This collection provides for a reprogrammable, multifunction
manipulator designed to move devices through variable programmed
motions for the performance of changeable tasks on a repetitive
basis without human intervention and all subcombinations thereof
specialized for use with such manipulator.
SECTION II - NOTES TO THE CLASS DEFINITION
(1)
Note. It should be noted that this is a cross-reference collection
of art only and not a true "Class" within the
meaning of that term as used in the U.S. Patent Classification System
although it is a search tool which is a part of that system. This
collection will not, therefore, take for original placement any
U.S. Patent.
(2)
Note. A robot usually has an arm* (elongated appendage)
which normally has three degrees of freedom*.
(3)
Note. A robot must be reprogrammable to perform a variety
of different tasks. Thus, a numerically controlled machine tool
which may have an arm, but is designed to perform only a fixed set
of tasks, is not a robot.
(4)
Note. Subcombinations (e.g., programs, actuators, joints,
grippers, bearings, gears, etc.) have been included in all instances where
there was a disclosure basis (e.g., for use in an industrial robot,
programmable manipulator, etc.). Some subcombinations, of general
utility (e.g., containing no specific statement of use with a robot
in the disclosure), are also included, where in the opinion of the
Classifiers, the subcombination is readily adaptable for use in
a robot. An attempt has been made to provide search notes for pertinent
subcombinations of more general utility.
(5)
Note. This cross-reference art collection provides a general
locus for all information relating to robot machines or subcombinations
and elements peculiar thereto, regardless of the type of work which
is done by that machine. Based upon past development of the system
of patent classification, such patents are to be found in many classes,
their disposition being dependent on a number of diverse considerations.
The most pertinent classifications for subject matter dealing with
robots have been screened; however, it should be noted that this
cross-reference collection represents the initial attempt to collect
this subject matter and therefore should not be construed as being
the exhaustive locus for robot machines in its present form.
(6)
Note. This drawings associated with the definitions are merely
used to illustrate the basic concept encompassed by the definition
of each subclass, and should not be construed as limiting the scope
of the subject matter covered by any subclass.
Metal Working,
subclass 26 for a drill press, subclasses 33+ and
563 for a conveying means used in a metal working apparatus which includes
metal shaping and for assembly, and subclasses 701+ for
assembly devices.
Material or Article Handling,
subclasses 1 through 8and art collection 909 for remotely controlled
manipulators (e.g., master-slave), subclasses 22.51+ for
well pipe racking, subclass 146 for the charging or discharging
of material into a radioactive environment, subclass 186 for furnace
charging or discharging devices having a grab, subclasses 589+,
591, 730+, 744.1+, 749.1, and 754+ for
article handlers described by their movement through space and art
collection 917 for material handlers having parallel links.
Prosthesis (i.e., Artificial Body Members), Parts
Thereof, or Aids and Accessories Therefor,
subclass 60 , 61 and 64 for artificial arms parts having structure
similar to robot arm* parts.
Data Processing: Generic Control Systems or Specific
Applications,
subclasses 86 through 88for program preparation for generic control systems,
subclasses 159-195 for computer applications to machining, subclasses
213-244 for computer applications to article handling, and subclasses
245-264 for data processing of robot control systems.
SECTION IV - GLOSSARY
ARM
The appendage emanating from the base* of the
robot and running to, but not including the end effector*.
BASE
The supporting structure for the arm*.
DEGREE OF FREEDOM
Each linear or rotary movement along or about a given axis.
END EFFECTOR
A device connected to the distal end of the robots arm* which
carries out the robots intended function.
Subject matter under the cross-reference collection definition
including a base* which is programmable to move without
restraint.
(1)
Note. A robot with a base* which is guided for movement
along a track so that the base* must follow the trackway is
not considered to be a mobile robot.
Subject matter under the cross-reference collection definition
including means for sending signals to a drive system for the arm*.
(1)
Note. A device in this and in indented cross-reference subcollections
represents, in human terms, the brain and nervous system of the
robot. The controller will perform one or more of the following
functions:
a. storing, sequencing and positioning data in memory.
b. initiating and stopping the motions of the arm*.
Metal Fusion Bonding,
subclass 7 for an arm motion controller for a welding device
and subclass 102 for processes involving the arm motion controller
of a welding device.
Data Processing: Generic Control Systems or Specific
Applications,
subclasses 159 through 195for computer applications to machining, subclasses
213-244 for computer applications to article handling, and subclasses
245-264 for arm motion control systems.
Subject matter under cross-reference subcollection 2 for
designing and/or inputting a work pattern into the controller
so that the robot may perform work without human intervention.
Data Processing: Generic Control Systems or Specific
Applications,
subclasses 86 through 88for program preparation for generic control systems
and subclasses 245-264 for the preparation of computer programs
for control of a robot arm.
Subject matter under cross-reference subcollection 3 in
which an operator moves the arm* by hand through all positions
required to do the task and the controller stores the position of
the arm* in memory.
(1)
Note. Teaching may be done at a speed difference from that
needed for real time operation, i.e., playback may be set at other
speeds, allowing for different cycle times.
Subject matter under cross-reference subcollection 3 in
which the arm*, during the teaching operation, is controlled
by either a teaching pendent or a separate computer terminal.
(1)
Note. A teach pendent is a device similar to a remote control
box with the additional capability to record and play back stored
commands.
Metal Working,
subclass 563 for a conveying device cooperating with a metal
working machine and subclass 26 for a conveying device cooperating specifically
with a drill press.
Gear Cutting, Milling or Planing,
subclass 7 for a gear cutting device combined with work transfer
utilizing a transfer arm and subclasses 172+ for a milling
machine combined with a work transfer means.
Tool Changing,
subclasses 4+ for apparatus including a tool transfer means combined
with either a tool support or storage means and further including
a programmable control means.
Conveyors: Power Driven,
subclasses 339+ for a means to facilitate working, treating or
inspecting a conveyed load at a station and subclass 486 for the
transferring of a load from one conveyor to another through the use
of an oscillating or reciprocating gripper.
Subject matter under cross-reference subcollection 2 wherein
a sensor on the robot monitors a position of the arm* and
transmits a signal indicative of that position back to the arm motion
controller which compares the actual arm* position with
the desired position so as to adjust movement of the arm* towards that
desired position.
(1)
Note. The arm* is controlled to move and to stop
anywhere within its limits of travel, rather than only at the extremes.
Subject matter under cross-reference subcollection 9 wherein
the sensor is biased into surface contact with the work and is caused
to travel thereover to thereby cause the arm* to maintain
a fixed relative position with respect to said work surface.
Electric Heating,
subclass 124.1 for electric arc welding with automatic positioning
of the arc and subclasses 125.1+ for electric arc welding
having a predetermined welding operation (programmed controlled).
Subject matter under cross-reference subcollection 2 including
mechanical means for causing termination of movement of an arm* component
at its programmed end.
(1)
Note. There are usually only two positions for each component
of the arm* to assume: up/down, left/right,
extend/retract, as differentiated from a closed loop system
(see (1) Note. in subcollection 9).
Subject matter under the cross-reference art collection
definition characterized by the manner in which the arm* moves
through space due to its structure thereby giving the robot its various
degrees of freedom*.
(1)
Note. Robot arms* may have linear movement along
or rotary movement about a given axis. The robot arm* movement
through space in this and indented subcollections is usually determined
by the relative number of linear vs. rotary joints.
(2)
Note. In this and indented subclasses, the motion of the wrist
has not been considered in determining placement.
Earth Working,
subclasses 3+ for the movement of an earth working machine about
a stationary base and particularly subclass 26 for a track guided
earth working machine.
Material or Article Handling,
subclass 539 for a load support with linear vertical movement
and additional movement for aligning and mounting a load at a specific
location, subclass 591 for a guided hoist with a load supporting
grab moveable horizontally by means which swings horizontally or moves
linearly, subclasses 680+ for a vertically swinging load
support, subclass 744 for a horizontally swinging load support,
subclasses 749+ for a load supported mounted horizontal linear
movement, subclass 776 for a reorienting device mounted on an arm which
is swingable about its transverse axis and rotatable about its longitudinal
axis, and cross-reference art collection 917 for a handling device having
parallel links.
Subject matter under cross-reference subcollection 14 wherein
the arm* has at least three degrees of freedom* which
are constituted by orthogonally related linear movements.
Subject matter under cross-reference subcollection 14 wherein
the arm* has at least three degrees of freedom*,
one of which is rotary, the other two being constituted by orthogonally related
linear movements.
Subject matter under cross-reference subcollection 14 wherein
the arm* has at least three degrees of freedom*,
two or which are orthogonally related rotary joints and the third
is a linear movement.
Subject matter under the cross-reference collection definition
characterized by a motor which drives the arm* and/or
by the transmission of that motion from the motor to the arm*.
Prosthesis (i.e., Artificial /body Members),
Parts Thereof, or Aides and Accessories Therefor,
subclass 60 for an elbow joint with forearm actuation in a
prostheses.
Subject matter under cross-reference subcollection 19 wherein
particular means associated with the motor or transmission is provided
for varying the velocity of movement of an arm* component
during its stroke.
Subject matter under cross-reference subcollection 19 wherein
the transmission of motion between the driving motor and the arm* includes
a belt, chain or cable.
Subject matter under cross-reference subcollection 19 wherein
the motor which drives the arm* converts hydraulic or pneumatic
pressure into mechanical work.
Subject matter under cross-reference subcollection 23 wherein
the electric motor which drives the arm* produces discrete
increments when excited by an input pulse.
Subject matter under cross-reference subcollection 19 wherein
the transmission of motion from the motor to the arm* is
accomplished by a system which includes first and second relatively
rotatable bodies provided with teeth or other interengaging drive
surfaces and wherein motion is imparted from the first to the second body
by rolling contact.
Subject matter under cross-reference subcollection 25 wherein
the interengaging drive surfaces are at an angle which intersects
the rotational axis of the bodies.
Subject matter under the cross-reference definition characterized
by the structure of a mechanical link or the connection between adjacent
links which form the robot arm*.
Subject matter under cross-reference subcollection 28 wherein
significance is attributed to the particular joint located at a
distal end of the robot arm* which connects that arm with
an end effector*.
(1)
Note. Wrist action usually provide the robot with an even
greater amount of flexibility. In addition to the three degrees
of freedom* provided by the robots arm*, the wrist
can provide an extra three degrees of motion. These articulations
are commonly referred to as yaw, pitch and roll.
Material or Article Handling,
subclasses 732+ and 738+ for a grab moveable relative
to its vertically swinging supporting arm and subclass 776 for a
reorienting device which is swingable about its transverse axis and
rotatable about its longitudinal axis.
See the glossary of terms under the cross-reference collection
definition.
(1)
Note. The end effector* is commonly the only hardware
element which needs to be changed to adapt the robot to a new task.
The end effector* is considered separate from the robot
itself, is mounted on its own flange, and usually requires an independent
means of being actuated and powered, although its actions are coordinated
by the robots controller.
(2)
Note. Included in this subclass are tool changing robots and
special connecting devices for the attaching of the end effector* to
the robot arm*.
Subject matter under cross-reference subcollection 30 adapted
to transport an object wherein opposed grasping elements are moveable
relative to each other to grip the object therebetween.
Material or Article Handling,
subclass 186 for a furnace charging device having a gripper,
subclasses 225+ for an article handling which selects a
load from a source and delivers the load to a working, treating
or inspecting station, subclasses 730+ for a material handling
grab mounted for vertical swinging movement, subclasses 744.1+ for
a material handler mounted for horizontal swinging movement, subclasses
751.1 and 753.1 for a material handling gripper mounted for horizontal
linear movement, subclass 763 for a gripping device which inverts
an article, and subclass 783 for a gripper on an article reorienting
device in general.
Prosthesis (i.e., Artificial Body Members), Parts
Thereof, or Aides and Accessories Therefor,
subclass 64 for a finger actuator embedded in a simulated hand.
Subject matter under cross-reference subcollection 31 and
further including a sensor located on the robot which controls movement of
a grasping element.
Subject matter under cross-reference subcollection 32 wherein
the sensor is located on a grasping element and senses an object
grasped thereby by direct contact therewith.
(1)
Note. These devices may use simple switches as sensors, or
pressure sensitive materials, or the sensors may feel surface contours.
Subject matter under cross-reference subcollection 32 wherein
the sensor is at a location spaced from a grasped object and includes means
to sense strain on the grasping element.
Subject matter under cross-reference subcollection 32 wherein
the sensor includes means to sense the relative position between
the grasping element and an object to be grasped.
(1)
Note. Sensors in this subcollection include optical interrupters
(LED"s), reflective, electromagnetic and ultrasonic.
Subject matter under cross-reference subcollection 30 which
includes a vacuum cup, permanent magnet or an electromagnet for
the purpose of handling material.
Material or Article Handling,
subclass 437 for a suction or magnetic device mounted on a vertically
swingload support, subclass 744 for a suction or magnetic device
mounted on a horizontally swinging load support, and subclass 752.1
for a suction device mounted for horizontal linear movement.
Electric Heating,
subclass 124.1 for electric arc welding with automatic positioning
of the arc and subclass 125.1 for electric arc welding having a
predetermined welding operation (programmed controlled).
Sprinkling, Spraying, and Diffusing, appropriate subclasses for a painting device and particularly
subclass 69 for programming means for controlling fluid flow.
Subject matter under cross-reference subcollection 30 which
include a means for aiding insertion and mating maneuvers by permitting the
device to adapt to misalignments.
Optics: Measuring and Testing,
subclass 28 for sensors which optically measure velocity, subclasses
139.04 through 139.08, 141.1 through 141.5 and 152.1 through 152.3
for optical sensors which measure angles or misalignment, and subclass
400 for optical sensors which measure alignment in a lateral direction.
Subject matter under the cross-reference collection definition
which either (1) prevent human beings from being injured by a robot
or (2) prevent the robot itself from being damaged.
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